Controlling method of synchronous motor

ABSTRACT

A method is for controlling a synchronous motor includes a stator, a rotor with a position and a speed, a direct axis and a quadrant axis. The method includes: providing a position control, a speed control and a current control programs; executing either the position control program or the speed control program to produce a quadrant axis current; executing the current control program; detecting the synchronous motor to obtain a first, a second and a third phase currents, and digitizing the three phase currents; using the three phase currents and the quadrant axis current to calculate a direct axis current; converting the direct axis current and quadrant axis current to a direct axis voltage command and quadrant axis voltage command; executing a pulse width modulation for the direct axis and the quadrant axis voltage commands, to get a trigger signal for controlling the synchronous motor.

BACKGROUND OF THE INVENTION

(1) Field of the Invention

The invention relates to a controlling method of a motor, and especiallyrelates to an adaptive controlling method of a synchronous motor.

(2) Description of the Prior Art

In traditional industry or high-tech industry, the electric motor as anindispensably apparatus. The electric motor has the advantage of smallrotor inertia, good starting performance, easy to heat etc., but thecontrol mathematical model of electric motor is a complex nonlinearsystem. Therefore, it is required to use more complex control technologyto complete the drive and control.

The most commonly used control method isproportional-integral-derivative controller (commonly known as PIDcontroller) in recent industry. The structure of PID controller issimple and high stability, but its parameter values are fixed, it mustrely on experience or the trial and error to find the controllerparameters, and manually adjusted at the scene. When the motor subjectto external interference, especially nonlinear interference, theconsidered variables of PID controller are relative increase in theadjustment. Consequently, when design the motor control system, it isdifficult to achieve good response by one group of control parameters.On the other hand, the parameters of the control system also changesbecause of the environmental impact, then results in the deteriorationof the control performance. There are many higher control theory used inthe design of the motor control system to improve control systemperformance, but the relative complexity enhance.

Therefore, how to provide a low complexity adaptive controlarchitecture, so that the control parameters can be adjusted at any timewith the change of command or the environment, that is the problem ourtechnology desperately wants to solve.

SUMMARY OF THE INVENTION

The object of the invention is to provide a controlling method of therotor speed, the rotor position, and the current of synchronous motor.

Another object of the present invention is to provide a adaptive controlmethod of low complexity and with immediate self adjusting.

In order to achieve the above objects, the invention provides acontrolling method of synchronous motor, the synchronous motor includesa stator, a rotor, a direct axis and a quadrant axis, and the rotor hasposition and speed. The controlling method of synchronous motorincludes: providing a position control program of the rotor, a speedcontrol program of the rotor and a current control program of thestator; executing either the position control program or the speedcontrol program to produce a quadrant axis current; executing thecurrent control program; detecting the synchronous motor to obtain afirst phase current, a second phase current and a third phase current;digitizing the first phase current, the second phase current and thethird phase current; calculating the first phase current, the secondphase current, the third phase current and the quadrant axis current toobtain a direct axis current; converting the direct axis current and thequadrant axis current into a direct axis voltage command and a quadrantaxis voltage command; executing a pulse width modulation for the directaxis voltage command and the quadrant axis voltage command, so as to geta trigger signal for controlling the synchronous motor.

In an embodiment, the directions of the first phase current, the secondphase current, and the third phase current forming an angle of120-degree with respect to each other, while the first phase current andthe second phase current are directly measured by instrument, the thirdphase current is calculated by the measurement result of the first phasecurrent and the second phase current.

In another embodiment, the step of executing the current control programfurther includes: producing a rotor position command; reading a rotorposition of the rotor after accepting the rotor position command, thencalculating a rotor speed of the rotor.

In another embodiment, the step of executing the position controlprogram further includes: producing a rotor position command; reading arotor position after accepting the rotor speed command, then calculatinga rotor speed.

In another embodiment, the controlling method of synchronous motorfurther includes: providing a desired output current and an actualoutput current, and applying the least-mean-square algorithm with thenonlinear programming optimization to make the error between the desiredoutput current and the actual output current converge to zero.

In another embodiment, the controlling method of synchronous motorfurther includes: providing a desired rotor speed and an actual rotorspeed, and applying the least-mean-square algorithm with the nonlinearprogramming optimization to make the error between the desired rotorspeed and the actual rotor speed converge to zero.

In another embodiment, the controlling method of synchronous motorfurther includes: providing a desired rotor position and an actual rotorposition, and applying the least-mean-square algorithm with thenonlinear programming optimization to make the error between the desiredrotor position and the actual rotor position converge to zero.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is the block diagram of a synchronous motor and the controlsystem of the synchronous motor.

FIG. 2 is the synchronous motor of present invention.

FIG. 3 is a flowchart of the control method of the synchronous motor.

FIG. 4 is an architecture chart of the position control program.

FIG. 5 is an architecture chart of the speed control program.

FIG. 6 is an architecture chart of the current control program.

FIG. 7 is an architecture chart of the least-mean-square algorithm ofthe loop 1 a and position controller.

FIG. 8 is an architecture chart of the least-mean-square algorithm ofthe loop 1 b and speed controller.

FIG. 9 is an architecture chart of the least-mean-square algorithm ofthe loop 1 c and current controller.

FIG. 10 is a measured drawing of the direct axis current and theresponse of direct axis current command.

FIG. 11 is a measured drawing of the quadrant axis current and theresponse of the quadrant axis current command.

FIG. 12 is a measured drawing of the rotor speed and the response ofrotor speed command.

FIG. 13 is a measured drawing of the rotor position and the response ofrotor position command.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

In the following detailed description of the preferred embodiments,reference is made to the accompanying drawings which form a part hereof,and in which is shown by way of illustration specific embodiments inwhich the invention may be practiced. In this regard, directionalterminology, such as “top,” “bottom,” “front,” “back,” etc., is usedwith reference to the orientation of the Figure(s) being described. Thecomponents of the present invention can be positioned in a number ofdifferent orientations. As such, the directional terminology is used forpurposes of illustration and is in no way limiting. On the other hand,the drawings are only schematic and the sizes of components may beexaggerated for clarity. It is to be understood that other embodimentsmay be utilized and structural changes may be made without departingfrom the scope of the present invention. Also, it is to be understoodthat the phraseology and terminology used herein are for the purpose ofdescription and should not be regarded as limiting. The use of“including,” “comprising,” or “having” and variations thereof herein ismeant to encompass the items listed thereafter and equivalents thereofas well as additional items. Unless limited otherwise, the terms“connected,” “coupled,” and “mounted” and variations thereof herein areused broadly and encompass direct and indirect connections, couplings,and mountings. Similarly, the terms “facing,” “faces” and variationsthereof herein are used broadly and encompass direct and indirectfacing, and “adjacent to” and variations thereof herein are used broadlyand encompass directly and indirectly “adjacent to”. Therefore, thedescription of “A” component facing “B” component herein may contain thesituations that “A” component facing “B” component directly or one ormore additional components is between “A” component and “B” component.Also, the description of “A” component “adjacent to” “B” componentherein may contain the situations that “A” component is directly“adjacent to” “B” component or one or more additional components isbetween “A” component and “B” component. Accordingly, the drawings anddescriptions will be regarded as illustrative in nature and not asrestrictive.

Refer to FIG. 1, it is a diagram of a control system of a synchronousmotor 1 in the present invention. The synchronous motor includessynchronous reluctance motor, interior permanent magnet synchronousmotor, surface-mounted permanent magnet synchronous motor and insertpermanent magnet synchronous motor. The control system of thesynchronous motor 1 includes a current sensor 2, an analog to digitalconverter 3, an inverter 4, a pulse width modulation module 5, adetector 6, a counter 7 and a digital signal processor 8 including adifferentiator 12. The internal operating method of the digital signalprocessor 8 include a first coordinate axis transformation 9 a, a secondcoordinate axis transformation 9 b, an adaptive model 10, an adaptivecontrol module 11.

Refer to FIG. 2, it is the synchronous motor 1 in present invention. Thesynchronous motor 1 includes a stator 110, a rotor 120, a direct axis121 and a quadrant axis 122. Detecting the synchronous motor 1 canobtain a first phase current i_(as) a second phase current i_(bs) and athird phase current i_(cs). The directions of the first phase currenti_(as), the second phase current i_(bs) and the third phase currenti_(cs) are formed a 120-degree included angle to each other, while thefirst phase current i_(as) and the second phase current i_(bs) aredirectly measured by the current sensor 2, the third phase currenti_(cs) is calculated by the measurement results of the first phasecurrent i_(as) and the second phase current i_(bs). However, the thirdphase current i_(cs) can also be directly measured by the current sensor2. In this embodiment, it is adopted calculation to obtain the thirdphase current i_(cs), in order to reduce the cost of one current sensor2. The rotor 120 has a speed and a position, the direct axis 121 and thequadrant axis 122 are rotated with the rotor 120. Making the first phasecurrent i_(as), the second phase current i_(bs) and the third phasecurrent i_(cs) projected to the direct axis 121 and the quadrant axis122 so that can produce a quadrant axis current i_(qs) and a direct axiscurrent i_(ds).

Refer to FIG. 3, it is the flowchart of a control method of thesynchronous motor in present invention. The control method ofsynchronous motor includes the following steps:

Step (S1): Setting an initial value to the internal parameters of thedigital signal processor 8.

Step (S2): Choosing whether or not to execute the position controlprogram of the rotor, and if yes, executing the step (S21), the blockdiagram of executing the position control program can refer to FIG. 4;if not, step (S3) is executed.

Step (S21): Producing a rotor position command θ*_(rm).

Step (S22): The detector 6 reads the rotor position θ_(rm) afteraccepting the rotor position command θ*_(rm), then the differentiator 12calculates the rotor speed ω_(rm) according to the rotor positionθ_(rm).

Step (S23): Get the quadrant current i_(qs).

Step (S3): Executing the speed control program of rotor, the blockdiagram of executing speed control program can refer to FIG. 5.

Step (S31): Producing a rotor speed command ω*_(rm).

Step (S32): The detector 6 reads the rotor position θ_(rm), afteraccepting the rotor position command ω*_(rm), then the differentiator 12calculates the rotor speed ω_(rm) according to the rotor positionθ_(rm).

Step (S33): Get the quadrant current i_(qs).

Step (S4): Executing the current control program, the block diagram ofexecuting current control program can refer to FIG. 6. Besides,detecting the synchronous motor 1 to obtain the first phase currenti_(as), the second phase current i_(bs) and the third phase currenti_(cs).

Step (S41): Using the first phase current i_(as) and the second phasecurrent i_(bs) to get the third phase current i_(cs), and digitizing thefirst phase current i_(as), the second phase current i_(bs) and thethird phase current i_(cs) by the analog to digital converter 3. Thesynchronous motor 1 has a neutral point, that is, the sum of the firstphase current i_(as), the second phase current i_(bs) and the thirdphase current i_(cs) is equal to zero. Therefore, the third phasecurrent i_(cs) can use i_(cs)=−(i_(as)+i_(bs)) to obtain, and the resultis same with actual measurement.

Step (S42): Make the first phase current i_(as), the second phasecurrent i_(bs) and the third phase current i_(cs) process the firstcoordinate axis, transformation 9 a, and using the quadrant axis currenti_(qs) to produce the direct axis current i_(ds). The formula of thefirst coordinate axis transformation 9 a is:

$\begin{bmatrix}i_{ds} \\i_{qs}\end{bmatrix} = {\begin{bmatrix}{\cos\left( \theta_{rm} \right)} & {\cos\;\left( {\theta_{rm} - \frac{2\pi}{3}} \right)} & {\cos\left( {\theta_{rm} + \frac{2\pi}{3}} \right)} \\{- {\sin\left( \theta_{rm} \right)}} & {- {\sin\left( {\theta_{rm} - \frac{2\pi}{3}} \right)}} & {- {\sin\left( {\theta_{rm} + \frac{2\pi}{3}} \right)}}\end{bmatrix}\begin{bmatrix}i_{as} \\i_{bs} \\i_{cs}\end{bmatrix}}$

Step (S43): Make the first phase current i_(as) and the second phasecurrent i_(bs) converted to output the direct axis voltage commandv*_(ds) and the quadrant axis voltage command v*_(qs).

Step (S44): Make the direct axis voltage command v*_(ds) and thequadrant axis voltage command v*_(qs) process the second coordinate axistransformation 9 b, in order to produce the α axis voltage commandv*_(α) and β axis voltage command v*_(β). Then, make the α axis voltagecommand v*_(α) and β axis voltage command v*_(β) execute a pulse widthmodulation to obtain a trigger signal and control the synchronous motor1. The formula of the second coordinate axis transformation 9 b is:

$\begin{bmatrix}v_{\alpha}^{*} \\v_{\beta}^{*}\end{bmatrix} = {\begin{bmatrix}{\cos\left( \theta_{rm} \right)} & {- {\sin\left( \theta_{rm} \right)}} \\{\sin\left( \theta_{rm} \right)} & {\cos\left( \theta_{rm} \right)}\end{bmatrix}\begin{bmatrix}v_{ds}^{*} \\v_{ds}^{*}\end{bmatrix}}$

Refer to FIG. 4, it is the architecture diagram of the position controlprogram. P_(θ)(Z) is a system controlled by the rotor position θ_(rm).The loop 1 a is the adaptive control method of position, which includesestablishing a position adaptive model, and establishing a positionestimating model {circumflex over (P)}_(θ)(Z). The loop 1 a uses therotor position θ_(rm) to establish the position adaptive model, thenestimate the position adaptive model by the position estimating model{circumflex over (P)}_(θ)(Z), and output the estimated rotor positionθ_(rm) _(—) _({circumflex over (P)}). Besides, The loop 1 a applies theleast-mean-square algorithm to get the error e_(θ) _(m) between therotor position θ_(rm) and the estimated rotor position θ_(rm) _(—)_({circumflex over (P)}). According to the error e_(θ) _(m) , the loop 1a adjusts the parameter of the position adaptive model, in order toachieve the effect that the error e_(θ) _(m) gradually converging. Whenthe error e_(θ) _(m) converge to zero, the estimated rotor positionθ_(rm) _(—) _({circumflex over (P)}) estimated by the positionestimating model {circumflex over (P)}_(θ)(Z) and the actual rotorposition θ_(rm) output from the controlled system P_(θ)(Z) are the same,so as to complete the position control program of loop 1 a.

Please continued refer to FIG. 4, loop 2 a is the control method of therotor position controller Ĉ_(θ)(Z), which includes a position adaptivecontrol program, R_(θ)(Z) is a reference model of the rotor positioncommand θ*_(rm). The rotor position command θ*_(rm) passes through thereference model R_(θ)(Z), to obtain a smooth rotor position commandθ*_(f). The estimating model {circumflex over (P)}_(θ)(Z) of the loop 1a is copied into the loop 2 a, for calculating a error e_(θ) _(c)between rotor position θ_(rm) and the rotor position command θ*_(rm).According to the error e_(θ) _(c) , the position adaptive controlprogram uses the least-mean-square algorithm to adjust the parameter ofthe position controller Ĉ_(θ)(Z). When the error converge to zero, itmeans that the rotor position θ_(rm) output from the controlled systemP_(θ)(Z) can be closer to the rotor position command θ*_(f) in thecontrol of position controller Ĉ_(θ)(Z), so as to complete the controlmethod of position controller in loop 2 a.

Refer to FIG. 5, it is the architecture diagram of the speed controlprogram, P_(ω)(Z) is a system controlled by the rotor speed ω_(rm). Thecontrolled system P_(ω)(Z) has the additional interference T_(LD)(K).The loop 1 b is the adaptive control method of speed, which includesestablishing a speed adaptive model, and establishing a speed estimatingmodel {circumflex over (P)}_(ω)(Z). The loop 1 b uses the rotor speedω_(rm) to establish the speed adaptive model, then estimate the speedadaptive model by the speed estimating model {circumflex over(P)}_(ω)(Z), and output the estimated rotor speed ω_(rm) _(—)_({circumflex over (P)}). Besides, the loop 1 b applies theleast-mean-square algorithm to get the error e_(ω) _(m) between therotor speed ω_(rm) and the estimated rotor speed ω_(rm) _(—)_({circumflex over (P)}). According to the error e_(ω) _(m) , the loop 1b adjusts the parameter of the speed adaptive model, in order to achievethe effect that the error e_(ω) _(m) gradually converging. When theerror e_(ω) _(m) converge to zero, the estimated rotor speed ω_(rm) _(—)_({circumflex over (P)}) estimated by the speed estimating model{circumflex over (P)}_(ω)(Z) and the actual rotor speed ω_(rm) outputfrom the controlled system P_(ω)(Z) are the same, so as to complete thespeed control program of loop 1 b.

Please continued refer to FIG. 5, loop 2 b is the control method of therotor speed controller Ĉ_(ω)(Z), which includes a speed adaptive controlprogram, R_(ω)(Z) is a reference model of the rotor speed commandω*_(rm). The rotor speed command ω*_(rm) passes through the referencemodel R_(ω)(Z), to obtain a smooth rotor speed command ω*_(f). Theestimating model {circumflex over (P)}_(ω)(Z) of the loop 1 b is copiedinto the loop 2 b for calculating a error e_(ωc) between rotor speedω_(rm) and the rotor speed command ω*_(rm). According to the errore_(ωc), the speed adaptive control program uses the least-mean-squarealgorithm to adjust the parameter of the speed controller Ĉ_(ω)(Z). Whenthe error converge to zero, it means that the rotor speed ω_(rm) outputfrom the controlled system P_(ω)(Z) can be closer to the rotor speedcommand ω*_(f) in the control of speed controller Ĉ_(ω)(Z), so as tocomplete the control method of speed controller in loop 2 b.

Refer to FIG. 6, it is the architecture diagram of the current controlprogram. P_(c)(Z) is a system controlled by the direct axis currenti_(ds) and the quadrant axis current i_(qs). The loop 1 c is theadaptive control method of current, which includes establishing acurrent adaptive model, and establishing a current estimating model{circumflex over (P)}_(c)(Z). The loop 1 c uses the direct axis currenti_(ds) and the quadrant axis current i_(qs) to establish the currentadaptive model, then estimate the current adaptive model by the currentestimating model {circumflex over (P)}_(c)(Z), and output the estimateddirect axis current i_(ds) _(—) _({circumflex over (P)}) and thequadrant axis current i_(qs) _(—) _({circumflex over (P)}). Besides, theloop 1 c applies the least-mean-square algorithm to get the error e_(dm)between the direct axis current i_(ds) and the estimated direct axiscurrent i_(ds) _(—) _({circumflex over (P)}), and the error e_(dm)between the quadrant axis current i_(qs) and the quadrant axis currenti_(qs) _(—) _({circumflex over (P)}). According to the error e_(dm),e_(qm), adjust the parameter of the current adaptive model, in order toachieve the effect that the error e_(dm), e_(qm) gradually converging.When the error e_(dm), e_(qm) converge to zero, the estimated directaxis current i_(ds) _(—) _({circumflex over (P)}), the quadrant axisi_(qs) _(—) _({circumflex over (P)}) estimated by the current estimatingmodel {circumflex over (P)}_(c)(Z) are the same. The actual direct axiscurrent i_(ds), the quadrant axis i_(qs) output by the controlled systemP_(c)(Z) are also the same, so that complete the current control programof loop 1 c.

Please continued refer to FIG. 6, loop 2 c is the control method of thecurrent controller Ĉ_(dq)(Z), which includes a current adaptive controlprogram. i*_(ds) is the direct axis current command and i*_(qs) is thequadrant axis current command. The estimating model {circumflex over(P)}_(c)(Z) of the loop 1 c is copied into the loop 2 c, to obtain aerror e_(dc) between the direct axis current i_(ds) and the direct axiscurrent command i*_(ds), as well as the error e_(qc) between thequadrant axis current i_(qs) and the quadrant axis current commandi*_(qs). According to the error e_(dc), e_(qc) the current adaptivecontrol program uses the least-mean-square algorithm to adjust theparameter of the current controller Ĉ_(dq)(Z). When the error e_(dc),e_(qc) converge to zero, it means that the direct axis current i_(ds) aoutput from the controlled system P_(c)(Z) can be closer to the directaxis current command i*_(ds) in the control of current controllerĈ_(dq)(Z), and the quadrant axis current i*_(qs) output from thecontrolled system P_(c)(Z) can be closer to the quadrant axis currentcommand i*_(qs) in the control of current controller Ĉ_(dq)(Z), so as tocomplete the control method of speed controller in loop 2 c.

Refer to FIG. 7, it is the architecture diagram of the circuit of theloop 1 a and the least-mean-square algorithm of position controller.ω*_(rm) is a speed command, defined k as a sample sequence, g_(θ)(k) isthe control parameter of the position controller. θ_(rm)(k) is theactual rotor position, and θ_(rm) _(—) _({circumflex over (P)})(k) isthe estimated rotor position, so the e_(θ) _(m) (k) is the error betweenthe actual rotor position θ_(rm)(k) the estimated rotor position θ_(rm)_(—) _({circumflex over (P)})(k). the loop 1 a uses a nonlinearprogramming optimization to dynamically adjust control parameters of theposition controller g₀(k), so that the estimated rotor position θ_(rm)_(—) _({circumflex over (P)})(k) can be closer to the actual rotorposition θ_(rm)(k).

Refer to FIG. 8, it is the architecture diagram of the circuit of theloop 1 b and the least-mean-square algorithm of speed controller.i*_(qs) is the direct axis current command, k is a sample sequence,g_(ω)(k) is the control parameter of the speed controller. ω_(rm)(k) isthe actual rotor speed, and ω_(rm) _(—) _({circumflex over (P)})(k) isthe estimated rotor speed, so the e_(ω) _(m) (k) is the error betweenthe actual rotor speed ω_(rm)(k) the estimated rotor speed ω_(rm) _(—)_({circumflex over (P)})(k). The loop 1 b uses a nonlinear programmingoptimization to dynamically adjust control parameters of the speedcontroller g_(ω)(k), so that the estimated rotor speed ω_(rm) _(—)_({circumflex over (P)})(k) can be closer to the actual rotor speedω_(rm)(k).

Refer to FIG. 9, it is the architecture diagram of the circuit of theloop 1 c and the least-mean-square algorithm of current controller.v*_(ds) is the direct axis voltage command and v*_(qs) is the quadrantaxis voltage command, k is a sample sequence, G_(d1)(k), G_(d2)(k),G_(q1)(k), G_(q2)(k) are the control parameters of the currentcontroller, i_(ds)(k) is the actual direct axis current, and i_(ds)(k)is the quadrant axis current. The y_(d)(k) is the estimated direct axiscurrent, and the y_(q)(k) is the estimated quadrant axis current, so thee_(dm)(k) is the error between the actual direct axis current i_(ds)(k)and the estimated direct axis current y_(d)(k), as well as the e_(qm)(k)is the error between the actual quadrant axis current i_(qs)(k) and theestimated quadrant axis current y_(q)(k). The loop 1 c uses a nonlinearprogramming optimization to dynamically adjust control parameters of thecurrent controller G_(d1)(k), G_(d2)(k), G_(q1)(k), G_(q2)(k), so thatthe estimated direct axis current y_(d)(k) can be closer to the actualdirect axis current i_(ds)(k), and the quadrant axis current y_(q)(k)can be closer to the actual quadrant axis current i_(qs)(k).

Refer to FIG. 10, it is the response measuring diagram of the directaxis current i_(ds) and the direct axis current command i*_(ds), whichcan match with FIG. 6 and be seen that under the operation of thecurrent control program, the direct axis current command i*_(ds) and thedirect axis current i_(ds) are nearly identical. Refer to FIG. 11, it isthe response measuring diagram of quadrant axis current i_(qs) and thequadrant axis current command i*_(qs), which can match with FIG. 6 andbe seen that under the operation of the current control program, thequadrant axis current command i*_(qs) and the quadrant axis currenti_(qs) are nearly identical. Refer to FIG. 12, it is the responsemeasuring diagram of rotor speed ω_(rm) and the rotor speed commandω*_(rm), which can match with FIG. 5 and be seen that under theoperation of the speed control program, the rotor speed command ω*_(rm)and rotor speed ω_(rm) are nearly identical. Refer to FIG. 13, it is theresponse measuring diagram of rotor position θ_(rm) and the rotorposition command θ*_(rm), which can match with FIG. 4 and be seen thatunder the operation of the position control program, the rotor positioncommand θ*_(rm) and rotor position θ_(rm) are nearly identical.

During the design of the above-described embodiment of the position,speed and current control program, which can also apply to the drivesystem of the synchronous motor from low speed to high speed. Under theinfluence of the changes of the parameters of the controlled system andthe external interference, first, obtain the accurate estimatedcontrolled system model, then design the controller. Therefore, thedesigned current control, position control and speed control programscan ensure good control performance for the alterations of the drivesystem of the synchronous motor.

The foregoing description of the preferred embodiment of the inventionhas been presented for purposes of illustration and description. It isnot intended to be exhaustive or to limit the invention to the preciseform or to exemplary embodiments disclosed. Accordingly, the foregoingdescription should be regarded as illustrative rather than restrictive.Obviously, many modifications and variations will be apparent topractitioners skilled in this art. The embodiments are chosen anddescribed in order to best explain the principles of the invention andits best mode practical application, thereby to enable persons skilledin the art to understand the invention for various embodiments and withvarious modifications as are suited to the particular use orimplementation contemplated. It is intended that the scope of theinvention be defined by the claims appended hereto and their equivalentsin which all terms are meant in their broadest reasonable sense unlessotherwise indicated. Therefore, the term “the invention”, “the presentinvention” or the like is not necessary limited the claim scope to aspecific embodiment, and the reference to particularly preferredexemplary embodiments of the invention does not imply a limitation onthe invention, and no such limitation is to be inferred. The inventionis limited only by the spirit and scope of the appended claims. Theabstract of the disclosure is provided to comply with the rulesrequiring an abstract, which will allow a searcher to quickly ascertainthe subject matter of the technical disclosure of any patent issued fromthis disclosure. It is submitted with the understanding that it will notbe used to interpret or limit the scope or meaning of the claims. Anyadvantages and benefits described may not apply to all embodiments ofthe invention. It should be appreciated that variations may be made inthe embodiments described by persons skilled in the art withoutdeparting from the scope of the present invention as defined by thefollowing claims. Moreover, no element and component in the presentdisclosure is intended to be dedicated to the public regardless ofwhether the element or component is explicitly recited in the followingclaims.

What is claimed is:
 1. A controlling method of a synchronous motor, thesynchronous motor comprising a stator, a rotor, a direct axis and aquadrant axis, the rotor having an actual rotor position and a speed,and the direct axis and the quadrant axis rotating with the rotor, thecontrolling method of the synchronous motor comprising: providing aposition control program of the rotor, comprising steps of establishinga positive adaptive model, a position estimating model, and a referencemodel; providing a speed control program of the rotor and a currentcontrol program of the stator; executing either the position controlprogram or the speed control program to produce a quadrant axis current,wherein executing the position control program comprising steps of:estimating the positive adaptive model to generate an estimated rotorposition by the position estimating model; applying an algorithm to geta first error between the actual rotor position and the estimated rotorposition; adjusting the positive adaptive model to make the first errorgradually converging to zero; generating a smooth rotor position commandby the reference model, wherein the smooth rotor position commandrepresents a desired rotor position; calculating a second error betweenthe actual rotor position and the smooth rotor position command by theposition estimating model when the first error converging to zero; andadjusting the actual rotor position according to the second error, inorder to make the second error gradually converging to zero; executingthe current control program; detecting the synchronous motor to obtain afirst phase current, a second phase current and a third phase current;processing a first coordinate axis transformation according the adjustedposition and the first phase current, the second phase current and thethird phase current; calculating a direct axis current according to thequadrant axis current and the result of the first coordinate axistransformation; converting the direct axis current and the quadrant axiscurrent into a direct axis voltage command and a quadrant axis voltagecommand by processing a second coordinate axis transformation accordingto the adjusted position; and executing a pulse width modulation for thedirect axis voltage command and the quadrant axis voltage command, so asto get a trigger signal for controlling the synchronous motor.
 2. Thecontrolling method of the synchronous motor of claim 1, wherein thedirections of the first phase current, the second phase current, and thethird phase current forming an angle of 120-degree with respect to eachother, while each of the first phase current and the second phasecurrent is obtained by directly measuring with an instrument and thethird phase current is calculated by the direct measurement results ofthe first phase current and the second phase current.
 3. The controllingmethod of synchronous motor of claim 1, wherein the step of executingthe current control program further comprising: producing a rotorposition command; and reading a rotor position of the rotor afteraccepting the rotor position command, then calculating a rotor speed ofthe rotor.
 4. The controlling method of synchronous motor of claim 1,wherein the step of executing the speed control program furthercomprising: producing a rotor speed command; and reading a rotorposition after accepting the rotor speed command, then calculating arotor speed.
 5. The controlling method of synchronous motor of claim 1,further comprising: providing a desired output current and an actualoutput current, and applying a least-mean-square algorithm with anonlinear programming optimization to make the error between the desiredoutput current and the actual output current converge to zero.
 6. Thecontrolling method of synchronous motor of claim 1, further comprising:providing a desired rotor speed and an actual rotor speed, and applyinga least-mean-square algorithm with a nonlinear programming optimizationto make the error between the desired rotor speed and the actual rotorspeed converge to zero.
 7. The controlling method of synchronous motorof claim 1, further comprising: applying a least-mean-square algorithmwith a nonlinear programming optimization to make the second errorconverge to zero.